Multi-work-area system calibration method, multi-work-area system position determination method and multi-work-area system

Abstract

The invention provides a multi-work-area system calibration method, a multi-work-area system position determination method and a multi-work-area system. The multi-work-area system calibration method comprises the steps that the first position relation of a three-dimensional camera relative to a laser tracker is determined; determining a second position relation of the robot relative to the laser tracker; determining a third position relation of the three-dimensional camera relative to the robot according to the first position relation and the second position relation; determining a fourth position relation of the plurality of first calibration objects relative to the laser tracker; determining a fifth position relation of the plurality of second calibration objects relative to the laser tracker; determining a sixth position relation according to the fourth position relation and the fifth position relation; the third position relations and the sixth position relations are used for calibrating the multi-work-area system. The multi-work-area system can be accurately calibrated.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a calibration method and a position determination method for a multi-workspace system, and a multi-workspace system. Background Art

[0002] Currently, robots process objects by placing them on a workbench, using a 3D camera to locate them, and then using the robot to process them. This method has the problem of low object processing efficiency.

[0003] Based on this, a method is provided in which a robot and a three-dimensional camera are used in different areas to realize synchronous positioning and processing of objects, so as to improve the processing efficiency of objects. However, this method has the problem of positioning error. Therefore, an expression method based on this scene is urgently needed to reduce the positioning error. Summary of the Invention

[0004] Various aspects of the present disclosure provide a calibration method, a position determination method, and a multi-work area system for achieving accurate calibration of the multi-work area system.

[0005] A first aspect of an embodiment of the present disclosure provides a calibration method for a multi-workspace system. The multi-workspace system includes a three-dimensional camera, a workspace conversion device, a robot, and a laser tracker. The workspace conversion device includes: a first workbench and a second workbench. A plurality of first calibration objects are placed on the first workbench, and a plurality of second calibration objects are placed on the second workbench. The calibration method includes:

[0006] Determine the first position relationship of the 3D camera relative to the laser tracker

[0007] Determine the second position relationship of the robot relative to the laser tracker

[0008] According to the first position relationship and the second position relationship Determine the third position relationship of the 3D camera relative to the robot

[0009] Determining a fourth positional relationship of the plurality of first calibration objects relative to the laser tracker

[0010] Determining a fifth positional relationship of the plurality of second calibration objects relative to the laser tracker

[0011] According to the fourth position relationship Relationship with the fifth position Determine the sixth position relationship

[0012] Multiple third position relationships Relationship with the sixth position Used to calibrate multi-zone systems.

[0013] A second aspect of an embodiment of the present disclosure provides a multi-workspace system, including: a three-dimensional camera, a workspace conversion device, a robot and a laser tracker. The workspace conversion device includes: a first workbench and a second workbench. The positions of the first workbench and the second workbench can be converted to each other. The laser tracker is arranged between the three-dimensional camera and the robot.

[0014] A third aspect of the present disclosure provides a position determination method, which is applied to a multi-workspace system. The multi-workspace system includes: a three-dimensional camera, a workspace transformation device, and a robot. The workspace transformation device includes: a first workbench and a second workbench. A target object is placed on the first workbench, and a plurality of second calibration objects are placed on the second workbench. The method includes:

[0015] Determining an eighth positional relationship of the target object relative to the plurality of second calibration objects

[0016] Controlling the work area changing device to change positions so that the first workbench and the second workbench change positions;

[0017] Determining a ninth positional relationship of the plurality of second calibration objects relative to the three-dimensional camera

[0018] Get the third position relationship of the 3D camera relative to the robot The third position relationship is determined according to the calibration method of any one of the first aspects;

[0019] According to the eighth position relationship Ninth position relationship and the third position relationship Determine the target position relationship of the target object relative to the robot

[0020] A fourth aspect of the disclosed embodiments provides a multi-workspace system, including: a three-dimensional camera, a workspace transformation device, and a robot. The workspace transformation device includes: a first workbench and a second workbench. The positions of the first workbench and the second workbench can be transformed with each other.

[0021] A fifth aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the calibration method for the multi-zone system of the first aspect and / or the position determination method of the third aspect are implemented.

[0022] In a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the calibration method of the multi-work zone system of the first aspect and / or the position determination method of the third aspect.

[0023] A seventh aspect of an embodiment of the present disclosure provides a computer program product, the program product comprising: a computer program, the computer program being stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and at least one processor executing the computer program so that the electronic device executes the calibration method of the multi-zone system of the first aspect and / or the position determination method of the third aspect.

[0024] The present disclosure provides a calibration method for a multi-workspace system, wherein the multi-workspace system includes a three-dimensional camera, a workspace conversion device, a robot, and a laser tracker. The workspace conversion device includes: a first workbench and a second workbench, a plurality of first calibration objects are placed on the first workbench, and a plurality of second calibration objects are placed on the second workbench. The calibration method includes: determining a first position relationship of the three-dimensional camera relative to the laser tracker Determine the second position relationship of the robot relative to the laser tracker According to the first position relationship and the second position relationship Determine the third position relationship of the 3D camera relative to the robot Determining a fourth positional relationship of the plurality of first calibration objects relative to the laser tracker Determining a fifth positional relationship of the plurality of second calibration objects relative to the laser tracker According to the fourth position relationship Relationship with the fifth position Determine the sixth position relationship Multiple third position relationships Relationship with the sixth position Used to calibrate a multi-work area system, the present disclosure can accurately calibrate a multi-work area system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0026] Figure 1 A schematic diagram of a multi-zone system provided by an exemplary embodiment of the present disclosure Figure 1 ;

[0027] Figure 2 A schematic diagram of a multi-zone system provided by an exemplary embodiment of the present disclosure Figure 2;

[0028] Figure 3 A flowchart of a calibration method for a multi-zone system provided by an exemplary embodiment of the present disclosure;

[0029] Figure 4 A schematic diagram of a multi-zone system provided by an exemplary embodiment of the present disclosure Figure 3 ;

[0030] Figure 5 A flowchart of a position determination method provided by an exemplary embodiment of the present disclosure;

[0031] Figure 6 A schematic diagram of a multi-zone system provided by an exemplary embodiment of the present disclosure Figure 4 ;

[0032] Figure 7 A structural block diagram of a calibration device for a multi-zone system provided by an exemplary embodiment of the present disclosure;

[0033] Figure 8 A structural block diagram of a position determination device provided by an exemplary embodiment of the present disclosure

[0034] Figure 9 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the specific embodiments of the present disclosure and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0036] Reference Figure 1 The present disclosure provides a multi-work area system 10, which includes a three-dimensional camera 11, a work area conversion device 12 and a robot 13. The work area conversion device 12 includes: a first workbench 121 and a second workbench 122. The positions of the first workbench 121 and the second workbench 122 can be mutually converted. The three-dimensional camera and the robot are set in different areas, for example, Figure 1In the embodiment, the three-dimensional camera is set at the visual station, and the robot is set at the execution station. When the first workbench is at the visual station and the second workbench is at the execution station, the three-dimensional camera locates the target object on the first workbench. After positioning, the first workbench can exchange positions with the second workbench. After the positions are exchanged, the first workbench is exchanged to the execution station, and the second workbench is exchanged to the visual station. At this time, the robot grabs the target object on the first workbench according to the positioning result of the three-dimensional camera. At the same time, a new target object can be placed on the second workbench. The three-dimensional camera locates the target object on the second workbench, and the positions of the first workbench and the second workbench are exchanged again. This cycle repeats to achieve efficient grabbing of target objects. However, based on the multi-workspace system 10, after the three-dimensional camera locates the target object, the first workbench and the second workbench need to be exchanged. There may be a problem of poor positioning accuracy when the first workbench is exchanged to the second workbench, and when the second workbench is exchanged to the first workbench. For example, referring to Figure 2 After the first workbench and the second workbench change positions, the first workbench should be changed to the original position of the second workbench, and the second workbench should be changed to the original position of the first workbench. However, the actual situation is that there are certain errors when the first workbench is changed to position a2 and the second workbench is changed to position a1. Therefore, the position information of the target object cannot be directly obtained by using the three-dimensional camera positioning. Therefore, a method for calibrating the multi-workspace system is urgently needed to improve the positioning accuracy.

[0037] In summary, the present disclosure provides a calibration method for a multi-workspace system, which can be based on an additional laser tracker 14 and can achieve accurate calibration of the multi-workspace system through a first calibration object on a first workbench and a second calibration object on a second workbench.

[0038] Reference Figure 3 , is a flow chart of the steps of a calibration method provided by an exemplary embodiment of the present disclosure, the calibration method is applied to the multi-zone system shown in the figure, with reference to Figure 1 A plurality of first calibration objects are placed on the first workbench 121 , and a plurality of second calibration objects are placed on the second workbench 122 .

[0039] In this disclosure, reference is made to Figure 1 The work area conversion device also includes a driving device 123, which is used to drive the first workbench to change to the position of the second workbench, and drive the second workbench to change to the position of the first workbench.

[0040] In addition, the three-dimensional camera is used to photograph the object on the workbench (the first workbench or the second workbench) of the vision station. The robot is used to grasp the object on the workbench (the first workbench or the second workbench) of the execution station.

[0041] In some embodiments, the work area conversion device is a rotating table having a first work table 121 and a second work table 122 , and the positions of the first work table 121 and the second work table 122 can be converted by rotation.

[0042] Among them, reference Figure 3 , the calibration method specifically includes the following steps:

[0043] S301, determining a first position relationship of the three-dimensional camera relative to the laser tracker

[0044] It can be understood that the laser tracker corresponds to the laser tracker coordinate system, and the first position relationship Represents the coordinates of the 3D camera in the laser tracker coordinate system.

[0045] In some embodiments, the laser tracker can directly measure to determine the first position relationship of the 3D camera relative to the laser tracker.

[0046] In some embodiments, determining a first position relationship of the 3D camera relative to the laser tracker Determining a fourth position relationship of a plurality of first calibration objects relative to the laser tracker Determining a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera According to the fourth position relationship Relationship with the seventh position Determine the first location information

[0047] The three-dimensional camera captures images of the plurality of first calibration objects, and then measures the first position of each of the plurality of first calibration objects relative to the three-dimensional camera through the captured images. Then, a 321 system establishment method is used to establish a coordinate system for the plurality of first calibration objects according to the plurality of first positions, so as to obtain a seventh position relationship of the plurality of first calibration objects relative to the three-dimensional camera.

[0048] Furthermore, the first position information is determined according to the following expression (1): :

[0049]

[0050] In the embodiment of the present disclosure, the first location information can also be determined by other methods. This is not limited here.

[0051] S302, determining a second position relationship of the robot relative to the laser tracker

[0052] In the embodiment of the present disclosure, the laser tracker can directly measure to determine the second position relationship of the robot relative to the laser tracker.

[0053] Among them, the second position relationship Represents the coordinates of the robot in the laser tracker coordinate system.

[0054] S303, according to the first position relationship and the second position relationship Determine the third position relationship of the 3D camera relative to the robot

[0055] Among them, the robot has a robot coordinate system, the third position relationship Indicates the coordinates of the 3D camera in the robot coordinate system.

[0056] The third position relationship can be determined according to the following expression (2):

[0057]

[0058] S304, determining a fourth position relationship of the plurality of first calibration objects relative to the laser tracker

[0059] Wherein, determining the fourth position relationship of the plurality of first calibration objects relative to the laser tracker The method comprises: controlling a laser tracker to measure a first position of each of a plurality of first calibration objects; determining a fourth position relationship according to the first positions of the plurality of first calibration objects;

[0060] In the embodiments of the present disclosure, refer to Figure 1 The multiple first calibration objects may be balls fixedly arranged on the first workbench, wherein the number of the multiple first calibration objects may be set as needed.

[0061] The laser tracker can measure the first position of each first calibration object in the laser tracker coordinate system, and then use the 321 system construction method to determine the fourth position relationship of the multiple first calibration objects relative to the laser tracker based on the first positions of the multiple first calibration objects in the laser tracker coordinate system.

[0062] S305, determining a fifth positional relationship of the plurality of second calibration objects relative to the laser tracker

[0063] Wherein, a fifth position relationship of the plurality of second calibration objects relative to the laser tracker is determined The method comprises: controlling a laser tracker to measure a second position of each second calibration object among a plurality of second calibration objects; determining a fifth position relationship according to the second positions of the plurality of second calibration objects;

[0064] In the embodiments of the present disclosure, refer to Figure 1 The multiple second calibration objects can be balls fixedly set on the second workbench, wherein the number of the multiple second calibration objects can be set as needed.

[0065] In some embodiments, the plurality of second calibration objects and the plurality of first calibration objects are of the same number, size, or arrangement.

[0066] The laser tracker can measure the second position of each second calibration object in the laser tracker coordinate system, and then use the 321 system construction method to determine the fifth position relationship of the multiple second calibration objects relative to the laser tracker based on the second positions of the multiple second calibration objects in the laser tracker coordinate system.

[0067] S306, according to the fourth position relationship Relationship with the fifth position Determine the sixth position relationship

[0068] The sixth position relationship can be determined by the following expression (3): :

[0069]

[0070] Among them, multiple third position relationships Relationship with the sixth position Used to calibrate multi-zone systems.

[0071] It is understood that in the multi-zone system operation process, the third position relationship can be adopted Relationship with the sixth position Position the target object to be grasped to improve positioning accuracy.

[0072] In summary, the present disclosure utilizes a laser tracker and sets a first calibration object on a first workbench, and sets a second calibration object on a second workbench to achieve accurate calibration of a multi-workspace system.

[0073] Furthermore, after the above calibration of the multi-zone system, the third position relationship is obtained. Relationship with the sixth position Can be applied to Figure 4The multi-workstation system 40 shown in FIG. includes a 3D camera 11, a workstation switching device 12, and a robot 13. The workstation switching device 12 includes a first worktable 121 and a second worktable 122, each of which is capable of switching positions. As can be seen, compared to the multi-workstation system 10, the multi-workstation system 40 lacks the laser tracker 14. Specifically, the laser tracker 14 is used to calibrate the multi-workstation system. Once the multi-workstation system is calibrated, the laser tracker is no longer required for actual use.

[0074] Reference Figure 5 , which is a flowchart of a position determination method provided by an exemplary embodiment of the present disclosure, applied to Figure 4 The multi-zone system 40 shown, wherein the position determination method specifically includes the following steps:

[0075] S501: Determine an eighth positional relationship of the target object relative to the plurality of second calibration objects.

[0076] When the target object is on the first workbench, a plurality of first calibration objects are also placed on the first workbench to determine the eighth position relationship of the target object relative to the plurality of second calibration objects. The method comprises: determining a tenth position relationship of the target object relative to the plurality of first calibration objects; Obtaining a sixth positional relationship between the plurality of first calibration objects and the plurality of second calibration objects Sixth position relationship It is determined according to the above calibration method; according to the tenth position relationship Relationship with the sixth position Determine the eighth position relationship

[0077] It can be understood that the eighth position relationship can be determined by the following expression (4):

[0078]

[0079] In some embodiments, determining a tenth positional relationship of the target object relative to the plurality of first calibration objects Determining a seventh position relationship of the plurality of first calibration objects relative to the three-dimensional camera Determine the eleventh position relationship of the target object relative to the 3D camera According to the seventh position relationship Relationship with the eleventh position Determine the tenth position relationship

[0080] It can be understood that the tenth position relationship can be determined by the following expression (5): :

[0081]

[0082] In some embodiments, a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera is determined. The method comprises: controlling a three-dimensional camera to measure a third position of each of a plurality of first calibration objects; determining a seventh position relationship according to the third positions of the plurality of first calibration objects;

[0083] It can be understood that the three-dimensional camera captures images of the multiple first calibration objects, and then measures the third position of each of the multiple first calibration objects relative to the three-dimensional camera through the captured images, and then uses the 321 system establishment method to establish a coordinate system for the multiple first calibration objects according to the multiple third positions to obtain the seventh position relationship of the multiple first calibration objects relative to the three-dimensional camera.

[0084] S502, controlling the work area conversion device to convert the positions of the first workbench and the second workbench.

[0085] Reference Figure 6 After the first and second workbenches are swapped, the position to which the first workbench is swapped may be the original position of the second workbench, or there may be an error between the position to which the first workbench is swapped and the original position of the second workbench. After the first and second workbenches are swapped, the position to which the second workbench is swapped may be the original position of the first workbench, or there may be an error between the position to which the second workbench is swapped and the original position of the first workbench.

[0086] S503: Determine a ninth position relationship of the plurality of second calibration objects relative to the three-dimensional camera.

[0087] In some embodiments, a ninth position relationship of the plurality of second calibration objects relative to the three-dimensional camera is determined. The method comprises: controlling a three-dimensional camera to measure a fourth position of each second calibration object among a plurality of second calibration objects; determining a ninth position relationship according to the fourth positions of the plurality of second calibration objects;

[0088] It can be understood that when the second workbench is transformed into the visual workstation, the three-dimensional camera can capture images of the multiple second calibration objects on the second workbench, and then obtain the fourth position of each of the multiple second calibration objects relative to the three-dimensional camera through the captured images, and then use the 321 system establishment method to establish a coordinate system for the multiple second calibration objects according to the multiple fourth positions to obtain the ninth position relationship of the multiple second calibration objects relative to the three-dimensional camera.

[0089] S504, obtaining the third position relationship of the 3D camera relative to the robot

[0090] Among them, the third position relationship It is determined according to any of the above calibration methods. The relevant description will not be repeated here.

[0091] S505, according to the eighth position relationship Ninth position relationship and the third position relationship Determine the target position relationship of the target object relative to the robot

[0092] Among them, according to the eighth position relationship Relationship with the ninth position Determine the position of the target object relative to the 3D camera

[0093] Specifically, the position relationship of the target object relative to the 3D camera is determined using the following expression (6): :

[0094]

[0095] Furthermore, the position relationship of the target object relative to the 3D camera can be and the third position relationship Determine the target position relationship of the target object relative to the robot

[0096] Specifically, the target position relationship is determined using the following expression (7): :

[0097]

[0098] The present invention obtains the target position relationship of the target object in the robot coordinate system through rigid transformation The process achieves a target object positioning using a 3D camera, and the robot performs related operations on the target object. Furthermore, after the first and second workstations switch positions, the 3D camera repositions the second calibration object placed on the second workstation, thereby eliminating errors caused by the positional shift between the first and second workstations.

[0099] It can be understood that based on the above calibration, positioning errors caused by the position shift between the first and second workstations can be avoided, further eliminating the impact of positioning errors on the accuracy of the multi-workstation system. In addition, the present disclosure can accurately determine the target position information of the target object relative to the robot, thereby enabling the robot to accurately grasp the target object.

[0100] Reference Figure 7 , is a structural block diagram of a calibration device 70 for a multi-workspace system provided by the present disclosure. The multi-workspace system includes a 3D camera, a workspace conversion device, a robot, and a laser tracker. The workspace conversion device includes: a first workbench and a second workbench. A plurality of first calibration objects are placed on the first workbench, and a plurality of second calibration objects are placed on the second workbench. The calibration device 70 for the multi-workspace system specifically includes:

[0101] The first determination module 701 is used to determine a first position relationship between the 3D camera and the laser tracker

[0102] The second determining module 702 is used to determine the second position relationship of the robot relative to the laser tracker

[0103] The third determining module 703 is used to determine the first position relationship and the second position relationship Determine the third position relationship of the 3D camera relative to the robot

[0104] The fourth determining module 704 is used to determine a fourth position relationship of the plurality of first calibration objects relative to the laser tracker.

[0105] The fifth determining module 705 is used to determine the fifth position relationship of the plurality of second calibration objects relative to the laser tracker.

[0106] The sixth determining module 706 is configured to determine the position of the Relationship with the fifth position Determine the sixth position relationship

[0107] Among them, the third position relationship Relationship with the sixth position Used to calibrate multi-zone systems.

[0108] In an optional embodiment, the first determining module 701 is specifically configured to:

[0109] Determining a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera

[0110] According to the seventh position relationship Relationship with the fourth position Determine the first position relationship

[0111] In an optional embodiment, the fourth determining module 704 is specifically configured to control the laser tracker to measure a first position of each of the plurality of first calibration objects;

[0112] Determine a fourth position relationship based on the first positions of the plurality of first calibration objects

[0113] In an optional embodiment, the fifth determining module 704 is specifically configured to control the laser tracker to measure the second position of each of the plurality of second calibration objects; and determine the fifth position relationship according to the second positions of the plurality of second calibration objects.

[0114] The calibration device 70 for a multi-work zone system provided in the present disclosure can implement the calibration method for the multi-work zone system. Please refer to the above for details and will not be repeated here.

[0115] Reference Figure 7 , is a structural block diagram of a position determination device 80 provided by the present disclosure, which is applied to a multi-workspace system. The multi-workspace system includes: a three-dimensional camera, a workspace transformation device, and a robot. The workspace transformation device includes: a first workbench and a second workbench. The target object is placed on the first workbench, and multiple second calibration objects are placed on the second workbench. The position determination device 80 specifically includes:

[0116] The first determining module 801 is used to determine the eighth position relationship of the target object relative to the plurality of second calibration objects.

[0117] The control module 802 is used to control the work area conversion device to convert the first workbench and the second workbench to change positions;

[0118] The second determining module 803 is used to determine the ninth position relationship of the plurality of second calibration objects relative to the three-dimensional camera.

[0119] Acquisition module 804, used to obtain the third position relationship of the 3D camera relative to the robot The third position relationship is determined according to any of the above calibration methods;

[0120] The third determining module 805 is used to determine the position of the Ninth position relationship and the third position relationship Determine the target position relationship of the target object relative to the robot

[0121] In some optional embodiments, when the target object is on the first workbench, a plurality of first calibration objects are further placed on the first workbench, and the first determining module 801 is specifically configured to:

[0122] Determine a tenth positional relationship of the target object relative to the plurality of first calibration objects

[0123] Obtaining a sixth positional relationship between the plurality of first calibration objects and the plurality of second calibration objects Sixth position relationship is determined according to the calibration method according to any one of claims 2 to 5;

[0124] According to the tenth position relationship Relationship with the sixth position Determine the eighth position relationship

[0125] In some optional embodiments, the first determining module 801 determines the tenth position relationship of the target object relative to the plurality of first calibration objects. When, specifically used for:

[0126] Determining a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera

[0127] Determine the eleventh position relationship of the target object relative to the 3D camera

[0128] According to the seventh position relationship Relationship with the eleventh position Determine the tenth position relationship

[0129] In some optional embodiments, the first determining module 801 determines the seventh position relationship of the plurality of first calibration objects relative to the three-dimensional camera. When, specifically used for:

[0130] controlling the three-dimensional camera to measure a third position of each of the plurality of first calibration objects;

[0131] Determine a seventh position relationship based on the third positions of the plurality of first calibration objects

[0132] In some optional embodiments, the second determining module 803 is specifically used to control the three-dimensional camera to measure the fourth position of each second calibration object in the plurality of second calibration objects; and determine the ninth position relationship according to the fourth positions of the plurality of second calibration objects.

[0133] Reference Figure 8 , which shows that the position determination device 80 provided by the present disclosure can implement the above-mentioned position determination method. Please refer to the above for details and will not repeat them here.

[0134] In addition, in some of the processes in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or in parallel. They are only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the "second", "first", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit the "second" and "first" to be different types.

[0135] Figure 9 This is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 9 As shown, the electronic device 90 includes: a processor 91, and a memory 92 communicatively connected to the processor 91, and the memory 92 stores computer-executable instructions.

[0136] Among them, the processor executes the computer-executable instructions stored in the memory to implement the position determination method provided by any of the above method embodiments, and the specific functions and technical effects that can be achieved are not repeated here.

[0137] An embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any of the above methods.

[0138] An embodiment of the present disclosure also provides a computer program product, which includes: a computer program, which is stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes any of the above methods.

[0139] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0140] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0141] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0142] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present disclosure. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code.

[0143] Those skilled in the art will clearly understand that for the sake of convenience and brevity, only the division of the above functional modules is used as an example for illustration. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the above functions. The specific working process of the above system can refer to the corresponding process in the above method embodiment, and will not be repeated here.

[0144] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0145] It should be understood that the present disclosure is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A calibration method for a multi-zone system, characterized in that: The multi-workspace system includes a three-dimensional camera, a workspace conversion device, a robot, and a laser tracker. The workspace conversion device includes a first workbench and a second workbench. A plurality of first calibration objects are placed on the first workbench, and a plurality of second calibration objects are placed on the second workbench. The calibration method includes: Determining a first position relationship of the three-dimensional camera relative to the laser tracker Determining a second position relationship of the robot relative to the laser tracker According to the first position relationship and the second position relationship Determine a third position relationship of the three-dimensional camera relative to the robot Determining a fourth positional relationship of the plurality of first calibration objects relative to the laser tracker Determine a fifth positional relationship of the plurality of second calibration objects relative to the laser tracker According to the fourth positional relationship and the fifth positional relationship Determine the sixth position relationship Among them, the third position relationship and the sixth position relationship Used to calibrate the multi-zone system.

2. The calibration method according to claim 1, characterized in that: determining a first position relationship of the three-dimensional camera relative to the laser tracker include: Determining a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera According to the seventh positional relationship and the fourth positional relationship Determine the first position relationship 3. The calibration method according to claim 1 or 2, characterized in that: The determining of a fourth positional relationship of the plurality of first calibration objects relative to the laser tracker include: controlling the laser tracker to measure a first position of each of the plurality of first calibration objects; Determine the fourth position relationship according to the first positions of the plurality of first calibration objects 4. The calibration method according to claim 1 or 2, characterized in that: The determining of a fifth positional relationship of the plurality of second calibration objects relative to the laser tracker include: controlling the laser tracker to measure a second position of each of the plurality of second calibration objects; Determine the fifth position relationship according to the second positions of the plurality of second calibration objects 5. A multi-zone system, characterized in that: include: A three-dimensional camera, a work area conversion device, a robot and a laser tracker. The work area conversion device includes: a first workbench and a second workbench, the positions of the first workbench and the second workbench can be mutually converted, and the laser tracker is arranged between the three-dimensional camera and the robot.

6. A method for determining a position, characterized in that: The method is applied to a multi-workspace system, the multi-workspace system comprising: a three-dimensional camera, a workspace transformation device, and a robot, the workspace transformation device comprising: a first workbench and a second workbench, the target object being placed on the first workbench, and a plurality of second calibration objects being placed on the second workbench, the method comprising: Determining an eighth positional relationship of the target object relative to the plurality of second calibration objects Controlling the work area changing device to change positions so that the first workbench and the second workbench change positions; Determine a ninth positional relationship of the plurality of second calibration objects relative to the three-dimensional camera Obtaining a third position relationship of the three-dimensional camera relative to the robot The third positional relationship is determined according to the calibration method according to any one of claims 1 to 4; According to the eighth positional relationship The ninth positional relationship and the third positional relationship Determine the target position relationship of the target object relative to the robot 7. The position determination method according to claim 6, characterized in that: When the target object is on the first workbench, a plurality of first calibration objects are also placed on the first workbench, and the eighth position relationship of the target object relative to the plurality of second calibration objects is determined. include: Determine a tenth positional relationship of the target object relative to the plurality of first calibration objects Acquire a sixth positional relationship between the plurality of first calibration objects and the plurality of second calibration objects The sixth positional relationship is determined according to the calibration method according to any one of claims 2 to 5; According to the tenth positional relationship and the sixth position relationship Determine the eighth positional relationship 8. The position determination method according to claim 7, characterized in that: determining a tenth positional relationship of the target object relative to the plurality of first calibration objects include: Determining a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera Determine an eleventh position relationship of the target object relative to the three-dimensional camera According to the seventh positional relationship and the eleventh position relationship Determine the tenth positional relationship 9. The position determination method according to claim 8, characterized in that: Determining a seventh positional relationship of the plurality of first calibration objects relative to the three-dimensional camera include: controlling the three-dimensional camera to measure a third position of each of the plurality of first calibration objects; Determine the seventh position relationship according to the third positions of the plurality of first calibration objects 10. The position determination method according to claim 8, characterized in that: Determining a ninth positional relationship of the plurality of second calibration objects relative to the three-dimensional camera include: controlling the three-dimensional camera to measure a fourth position of each second calibration object among the plurality of second calibration objects; Determine the ninth position relationship according to the fourth positions of the plurality of second calibration objects 11. A multi-zone system, characterized in that: include: A three-dimensional camera, a work area conversion device and a robot, wherein the work area conversion device comprises a first workbench and a second workbench, and the positions of the first workbench and the second workbench can be converted to each other.

12. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the calibration method according to any one of claims 1 to 4 and / or the position determination method according to any one of claims 6 to 10 are implemented.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the calibration method described in any one of claims 1 to 4 and / or the position determination method described in any one of claims 6 to 10.

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